GNSS (GPS and GLONASS)

Positioning
used in
Land Surveying and Engineering
by

Henri B. Ayers CLS, QLS

Leica Geosystems Ltd.

Presented at the Joint AMLS/APEGM Professional Development Seminar

on
GPS Best Practices Workshop
Winnipeg, Manitoba, Canada
1
January 18, 2011
Presentation Outline

Contents:

ƒ Review and Current Status of GPS and GLONASS Satellite Systems

ƒ GNSS Measurement and Positioning Processes
ƒ Real-Time GNSS Positioning Methods
ƒ GNSS Positioning Reliability Assessment
ƒ Transformation of GNSS Positions to Local Coordinate Systems
ƒ Summary and Conclusion

2
 Review and Current Status
of
GPS and GLONASS Satellite
Navigation Systems

3
 General GNSS Constellation Layout

4
 GPS Constellation Characteristics
32 Satellites (24 + 8 spare-extra)
ƒ 6 orbital planes inclined at 55o
(4 Satellites + spares per orbital plane)
ƒ 21,000 km above the Earth
ƒ 12-hour Orbital Period
ƒ Transmitting Code and Phase Data on
2 Frequencies

55o
Equator

5
 GLONASS Constellation Characteristics
24 Satellites
ƒ 3 orbital planes inclined at 65o
(8 Satellites per orbital plane)
ƒ 19,000 km above the Earth
ƒ 11-hour Orbital Period
ƒ Transmitting Code and Phase Data
on 2 Frequencies

65o
Equator

6
GNSS Satellite Availability for Winnipeg January 18, 2011

1.4

11

31 GPS and 21 GLONASS for 11 or more visible Satellites with an Average PDOP of 1.4

7
GNSS Satellite Sky Plot for Mid-Northern Latitudes
North

GLONASS Limit

GPS Limit
Local Horizon

West East
Zenith

10-degree
Cut-Off Angle

South

8
 GNSS
Measurement and Positioning
Processes

9
 GNSS Range Measurement Principle

Range = Signal Traveled Time x Speed of Light

Xll

lX

l
X Xl

ll lll lV
Vlll
l Vl Vl

V
10
 Range Determination from Code Measurements
Code Observations
ƒ Each satellite sends a coded signal which repeats itself
regularly
ƒ Receiver compares self generated code signal from a set Received Code
of known library codes with te received code signal from Satellite

ƒ From the time difference DT, a range observation can be

determined by multiplying it by the Speed of Light c
ƒ Receiver clock needs to be synchronized with the satellite Generated
clock Code from
Receiver
ƒ Code Measurements are complete and robust but are not
too precise (+/- 30 cm) when compared with Phase
Measurements
DT

D = c (DT)

11
 Range Determination from Phase Measurements
Phase Observations
ƒ Wavelength of the signal is about 20 cm
ƒ Receiver compares self-generated phase with received
phase ϕ
Received Satellite
ƒ The Total number of wavelengths is not initially known at Phase
the time the receiver is switched on (initial carrier phase
ambiguity)
ƒ As long as the satellite is continuously tracked, the
change in distance can be observed and the initial carrier Generated
phase ambiguity remains constant Phase from
Receiver
ƒ Phase Measurements are very precise (+/-1 mm) but are
initially not accurate until Initial Phase Integer Values N
are resolved.
ƒ Phase Measurements must remain un-interrupted
ϕ

D = ϕ + Νλ

12
Range Observations from Accumulated Phase Measurements
Initial phase ambiguity must be determined to use
carrier phase data as distance measurements.

Initial Phase
( N0 )

Initial Phase
( N0 )
Fractional
Accumulation of t1

( ϕ0 ) (Σ N )
t = t0
Fractional ( ϕ1 )
ti
13 Dti = φ ti .λ = ( N0 + Σ N + ϕti ) . λ
t = t0
 (Absolute) Point Positioning (Spatial Trilateration)

Instantaneous Point Positioning Post-Processed Point Positioning

from Code Measurements using from Precise Orbits and Phase Measurements
Broadcast Orbits : accumulated after 6 or more hours:

+/- 1 to 2 m Horizontally +/- 1 to 2 cm Horizontally

+/- 3 to 5 m Vertically +/- 3 to 5 cm Vertically

14
 GNSS Satellite Observation Errors
Clock Error

• Broadcast Orbit Uncertainty (3 to 5 metres) :

GNSS satellite positions are not perfectly known
in space from the Broadcast Ephemerides. Orbital Error
They drift slightly from their precise trajectories.
20000 Km or more

• Satellite Clock Error (1.0 x10**-11 sec) :

Timing is critical to GNSS. Even though they use
atomic clocks, they are still subject to small
inaccuracies in their time keeping Ionospheric Delay
200 Km
These inaccuracies will translate into positional
errors.

• Atmospheric Delays (10 to 50 cm): Tropospheric Delay

50 Km
Ionospheric Layer depends on the Density and
Stability of the Total Electron Content contained in
the higher atmosphere.
Tropospheric Layer depend on the Intensity and
Stability of Temperature, Pressure and Humidity
contained in the lower atmosphere.
Ionospheric and Tropospheric Layers produce
delays in GNSS Measurements.

15
(Relative) Differential Positioning (Baseline Vector)

h Differential Positioning
h Eliminates errors in satellite
orbits and clocks
h Minimizes atmospheric delays

h Provides Relative Positioning

between 2 Receivers
simultaneously tracking the
same Satellites.
h For Phase Measurements:

+/- (5 mm + 0.5 PPM) Horizontal

+/- (10 mm + 0.5 PPM) Vertical
h For Code Measurements:

+/- (0.5 m + 1 PPM) Horizontal

+/- (1.0 m + 1 PPM) Vertical A B
Baseline Vector

16
 Real-Time
GNSS
Positioning Methods

17
 Real-Time GNSS Differential Positioning Principle
Real Time Code and Phase Positioning
ƒ No post processing required
ƒ Results are instantly available
ƒ Can operate in two modes
ƒ RTK Real-Time Kinematic
using Phase Measurements
ƒ RT-DGPS
using Code Measurements

rrections
Broadcasted Data & Co
from Reference
B
A
Baseline Vector

18
 Single Base Real-Time GNSS Positioning Method

Cellular Wireless Cellular

Cellular
Cellular Wireless
Tower Network Tower
Tower
Tower Network
Carrier Carrier
Carrier
Carrier

GNSS Position
Available

Local
Corrections
Broadcast

UHF
Line-of-Sight
Radios
19
Multi-Base RTK Reference Station Network Method
GNSS (Moving) Satellites
Each Reference Station is connected to
a Central server via Internet High Speed
line

A Central RTK Network Processing

Centre validates all incoming data and
estimate Atmospheric Corrections at all
Reference Stations before broadcasting
information via the Internet

RTK Network
Continuously Operating Processing
Reference Station Center

Internet
Internet

20
RTK Reference Station Network in Southern Manitoba

50 km Radius Limits
for Maximum Atmospheric
Corrections and Modeling

c
c c

21
RTK Network Positioning Data Flow
Wireless Internet Communication
Data Processing Steps

Transmission of GGA Rover Position 1. Reference Station Data Gathering

4 Reception of RTK Messages
2. Common Level Ambiguity
Bi- Directional Determination and Clock
Correction from Cluster Stations
A 3. Ionospheric and Troposheric
Corrections to Single Difference
A Phase Corrections
6 7 M
A 4. Connection Authentication and
Selection of RTK Message Types
Auto Cell A
5. Assignment of Nearest (Master)
and Surrounding (Auxiliary)
Reference Stations in Auto Cell
Uni-Directional 6. Transmission of RTK Network
A
1 RTCM V3.1 (MAC) Messages
High Speed Line
Internet Communication
7. RTK Network Rover Positioning in
the Field from Nearest Reference
Station in Auto Cell
RTK Network
Processing Center M: Master Reference (Nearest to Rover) Station in Auto Cell
Steps 2 3 5 A: Auxiliary Reference Stations surrounding Rover in Auto Cell
22
Multi-User Network RTK Solutions

Network Cluster
Cell

RTK User 2
RTK User 3
RTK User 5
RTK User 4

Cell

RTK User 1

23
 GNSS
Positioning Reliability
Assessment

24
GNSS Coordinate Quality (CQ) Values

What are Coordinate Quality Values?

How are they derived?
Which phenomena affect them?
How to properly interpret them?
GNSS Satellite Positioning Geometry

SV-3
NORTH
SV-2

SV-4

SV-1

SV-5 ei
ai

Spherical
Horizon

26
Dilution Of Precision (DOP) from Satellite Geometry
DOP Matrix
2
Dilution = [ ndop , nedop, nvdop, ntdop ]
2
Of , edop , evdop, etdop ]
Precision , vdop 2 , vtdop ]
, tdop2 ]
where:
2 2 2 2 1/2
GDOP = (+/-) (ndop + edop + vdop + tdop ) Geometric DOP
2 2 2 1/2
PDOP = (+/-) (ndop + edop + vdop ) 3-D Position DOP
1/2
HDOP = (+/-) (ndop 2 + edop2 ) 2-D Horizontal DOP
ndop = North DOP
edop = East DOP
vdop = Vertical DOP 1-D Vertical DOP
tdop = Time DOP
27
RMS Error from GNSS Position Range Residuals

SV-3
SV-2

SV-4

SV-1

SV-5
+r4
+r2
+r5
Best-Fit Position
-r1 -r3

2 2 2 2 1/2
rms = +/- (r 1 + r 2 + r 3 + ………. + r n )
28 n = number of observations
GNSS Coordinate Quality (CQ) Values
2
CQ = rms . DOP Matrix
= [ sdn 2, covn_e, covn_h, covn_t ]
, sde 2 , cove_h, cove_t ]
, sdh 2 , covh_t ]
2
where : , sdt ]
rms = Root Mean Square of Range Measurement Errors

2 2 1/2
Horizontal CQ = +/- (sdn + sde ) (2d CQ)
2 1/2
Vertical CQ = +/- (sdh ) (1d CQ)
2 2 2 1/2
Spherical CQ = +/- (sdn + sde + sdh ) (3d CQ)

29
Short-Term RTK Horizontal Position Repeatability
Mean Horizontal
CQ Limit

1.3 cm
Smj axis
0.5 cm
Smn axis

1.2 cm
radius
Mean Error
Ellipse Limit

Position spikes produced by

no communication/updates
from Reference Station

Mean Horizontal
2d CQ: +/- 1.2 cm

30
Short-Term RTK Vertical Position Repeatability

Vertical CQ
Upper Limit

Mean Height Vertical Error

125.485 m Spread: 4 cm

Short Term Vertical CQ

Jitter Lower Limit

Position spikes produced by

no communication/updates
from Reference Station

Mean Vertical
1d CQ: +/- 2.0 cm

31
Long-Term Positioning Repeatability, Precision and Accuracy

Not too Precise but Accurate

Precise and Accurate

Precise but not too Accurate

32
 Independent Site Re-Occupations at Different Times from Different
Controls using Different Methods (RTK and Post-Processed)

Control 2

RTK Vectors
observed during a
given Time Interval
Post-Processed Vectors
Control 1
observed during a 2nd.
Time Interval

33
 Transformation
of
GNSS Positions
to
Local Coordinate Systems

34
GNSS and Local Coordinate System Characteristics

Z
Polar Axis y Local Ground u
Z local Coordinate
System
Northing
P x

GNSS Local
Geodetic Easting
Coordinate
System Mapping Plane
System O
O’ Y local
Y
ϕ 90 Longitude East

X local
X
Greenwich

35
3D Geodetic Datum Transformation (WGS84->NAD83 CSRS)

36
Geoid Model, Orthometric & Ellipsoid Heights

h = Ellipsoid Height
h = H + (-N)
or
H = h - (-N) Topography
P
h Ellipsoid
H = Orthometric Height H Mean
(Mean Sea Level Height) -N Sea
Level

Geoid N = Geoid Separation

37
Geoid Separation Contours in Southern Manitoba

38
Transformation of GNSS to Local Mapping Grid Coordinates
Z u
Z local
y
P

Loc al x
GNSS Geod etic
Mapping Plane (Projection)
Coordinate Sys tem
System Y local
O’
O Y
ϕ
λ

X
Greenwich X local

39
Characteristics of the Transverse Mercator Projection
A transverse cylinder intersects the surface of the spheroid along two small
ellipses equidistant from the meridian through the center of the zone.

The transverse cylinder is defined by specifying this central meridian, plus

the desired grid scale factor on the central meridian.

Scale remains the same along a North South (meridian) line.

40
Characteristics of the Transverse Mercator Projection

Zone Width 254 Km

Intersecting
Cylinder

Scale Factor > 1

Scale Factor > 1

Scale Factor < 1

Zone Boundary
Zone Boundary
Intersecting
Cylinder
Zone Boundary
Zone Boundary

Origin for Northings

Longitude of Central
Central Meridian
Meridian

41
Scaling Mapping Grid Coordinates to Ground Level
using Combined Scale Factor (CSF)

CSF = Projection Scale Factor x Ground Elevation Scale Factor

Terrain
B’’ (Ground Surface)
A’’

Ellipsoid
B’
A’ (Spherical Surface)

A B Grid Projection
(Plane Surface)

42
Transformation of GNSS to Local Ground Coordinates
Z z
y
Local Ground
Coordinate
System
P
x
h
GNSS
Coordinate Local Vertical
System Reference Level
O Y
ϕ
λ

X
Greenwich

43
 Transformation of GNSS to Local TM Grid
h (normal to WGS84
Z Mean Vertical Shift
Ellipsoid)

n (True North)
e (East)

dH Local Vertical
Reference Level
Local TM 0,0
Origin
Local TM Grid

WGS84 Ellipsoid

WGS84
System Origin
o
Y

44
 From Local TM Grid to Local (Arbitrary) Grid
2-D Helmert Horizontal True North Rotation
Transformation
n Angle (Rh)
(Plane View) y

Shift _e Horizontal Scale Factor (Sc)

Shift_ n
x

0,0 e

1-D Vertical Shift h

z
and Tilted Ellipsoid
for 3 or more points 2 Tilting Angle
(Profile View)
n Coefficients
y
dz
Dh3
Local Vertical Level dy
Shift_ h

dx dz
Dh1
e
Dh2 0,0 x

45
Intermixing GNSS Positions
with
Total Station and Level Data
 TPS Traversing from GNSS RTK Positions
RTK Reference 1st. Back Sight
Station
RTK Vectors

RTK Vectors

: RTK Position

: RTK Reference Station

Last Fore Sight
: TPS Station

47
TPS Orientation from RTK Positions

TPS Orientation

RTK Vector

RTK Vector

48
 TPS Orientation Errors from RTK Positions Errors
at Different Distance Separations
arcseconds ∝ Worst Case Scenario Best Case Scenario
(Dhz=0.020 m) (Dhz=0.005 m)

Distance Orientation Error Orientation Error

10 m 412“ 103“
(33 ft)
30 m 137“ 35“
(100 ft)
100 m 41“ 10“
(330 ft)
300 m 14“ 3“
100”
(1000 ft)
1000 m 4“ 1“
(3300 ft)

10”

1”

metres
10 30 100 300 1000

49
 Summary
and
Conclusion

50
Summary

ƒ A brief review of GNSS Characteristics with its Current Status have been
presented. Over 50 satellites are operational and provide 10 or more visible
Satellites most of the time in most areas of the world.
ƒ GNSS Measurement and Positioning Processes have been examined for their
application in Land Surveying and Engineering with a special emphasis on
Phase Measurements in Relative Positioning Baseline Vector determination.
ƒ Real-Time GNSS Positioning Methods have been described for Single Base
and Network RTK Baseline Vector solutions using Wireless and Internet
Communication.
ƒ GNSS Coordinate Quality Indicators based on Satellite Geometry and
Measurement RMS errors for Short Term and Long Tern Positioning
Repeatability with Independent Site Re-Occupations have been examined as
ways to assess GNSS Positioning Reliability.
ƒ Different Transformations of GNSS Positions to Local Coordinate Systems
have been presented for converting GNSS coordinates to Local Geodetic
Datum such as NAD83 CSRS, to UTM Mapping Grid Projection and Local
Ground Coordinate Systems so that GNSS positions can be properly inter-mix
with Terrestrial Data from Total Station and Level Instruments.

51
Conclusion

ƒ GNSS Positioning is very versatile and sophisticated.

ƒ A lot of background knowledge and various skills are required
to fully exploit GNSS Positioning capabilities.
ƒ We should be all very grateful to the people that have
developed the fundamentals of Satellite Positioning and
Navigation during the past few centuries up to the more recent
organizations that have designed, developed and are
maintaining these systems in operation with the participation
of emerging computer and communication technologies.
ƒ It is up to us to use it responsibly.

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